Displacement monitoring system for railway lines

Abstract

This application relates to a displacement monitoring system for railway lines, belonging to the field of construction technology. The system includes a target, a displacement sensor, a monitoring structure, and a measuring robot. An edge reinforcement member is installed on at least one side of the rail along the extension direction perpendicular to the rail. The target is installed on the surface of the sleeper of the rail away from the ground. The displacement sensor is installed on the surface of the edge reinforcement member facing the target, and is used to monitor a first distance between the matched target and the displacement sensor. The sleeper intersects the extension direction of the rail. The monitoring structure is installed on the surface of the edge reinforcement member away from the ground. The measuring robot is positioned on the side of the monitoring structure away from the rail, and is used to monitor a second distance between the matched monitoring structure and the measuring robot. The displacement of the railway line is determined based on at least one of the first and second distances, thereby improving the accuracy of displacement monitoring of the railway line.

Description

Technical Field

[0001] This application relates to the field of construction technology, and in particular to displacement monitoring systems for railway lines. Background Technology

[0002] With the development of local economies and societies along existing railway lines, the demand for grade-separated intersections between highways and railways is increasing daily. Grade-separated intersections between highways and railways mainly take two forms: overpasses and underpasses. Generally, the option of underpasses is preferred. When choosing the option of underpasses, since existing railways generally cannot be interrupted during construction, the railway line can only be reinforced during construction, temporarily suspending the line. Under the premise of not interrupting train operations, the highway frame bridge is pushed under the railway, and then the railway line is restored.

[0003] During this construction period, there is a risk of excessive track displacement, which could lead to safety hazards in train operation. Monitoring the track displacement during construction is an important measure to ensure the safety of train operation. Utility Model Content

[0004] Therefore, it is necessary to provide a railway line displacement monitoring system to address the issue of monitoring railway line displacement during construction.

[0005] A displacement monitoring system for railway lines, the system comprising: a target, a displacement sensor, a monitoring structure, and a measuring robot, wherein:

[0006] An edge reinforcement member in the railway line is installed on at least one side of the rail along a direction perpendicular to the extension of the rail in the railway line;

[0007] The target is installed on the surface of the sleeper of the rail away from the ground, and the displacement sensor is installed on the surface of the edge reinforcement facing the target. The displacement sensor is used to monitor the first gap between the matched target and the displacement sensor; the extension direction of the sleeper intersects the extension direction of the rail.

[0008] The monitoring structure is installed on the side of the edge reinforcement away from the ground, and the measuring robot is set on the side of the monitoring structure away from the rail. The measuring robot is used to monitor the second distance between the matched monitoring structure and the measuring robot.

[0009] The displacement of the railway line is determined based on at least one of the first spacing and the second spacing.

[0010] In one embodiment, the system further includes: a data collector, a data processor, and a terminal; wherein:

[0011] One end of the data acquisition unit is connected to the displacement sensor, and the other end is connected to the data processor;

[0012] The data processor is also connected to the measuring robot and the terminal.

[0013] In one embodiment, the pseudo-connection between the displacement sensor and the matched target is parallel to the ground.

[0014] In one embodiment, the initial distance between the displacement sensor and the matched target is less than or equal to 500 mm.

[0015] In one embodiment, the displacement sensor includes a laser displacement sensor.

[0016] In one embodiment, the displacement of the railway line is W, the change in the first spacing is D1, the change in the second spacing is D2, and W = D1 + D2.

[0017] In one embodiment, the monitoring structure includes a prism.

[0018] In one embodiment, a gap space is included between the edge reinforcement and the rail.

[0019] In one embodiment, the initial distance between the monitoring structure and the matched measuring robot is less than or equal to 50m.

[0020] In one embodiment, the size of the edge reinforcement is greater than or equal to the size of the rail in a direction perpendicular to the ground.

[0021] The railway line displacement monitoring system provided in this application includes: a target, a displacement sensor, a monitoring structure, and a measuring robot. The system comprises: an edge reinforcement member installed on at least one side of the rail along a direction perpendicular to the extension of the rail; a target mounted on the surface of the rail sleeper away from the ground; a displacement sensor mounted on the surface of the edge reinforcement member facing the target, the displacement sensor being used to monitor a first distance between the matched target and the displacement sensor; the extension direction of the sleeper intersects the extension direction of the rail; the monitoring structure is mounted on the surface of the edge reinforcement member away from the ground; a measuring robot is positioned on the side of the monitoring structure away from the rail, the measuring robot being used to monitor a second distance between the matched monitoring structure and the measuring robot; the displacement of the railway line is determined based on at least one of the first and second distances; this system improves the accuracy of monitoring abnormal displacements of the railway line, thereby enhancing the safety of railway line operation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a railway line displacement monitoring system in related technologies;

[0023] Figure 2 A schematic diagram of a railway line displacement monitoring system provided in this application;

[0024] Figure 3 Another schematic diagram of the railway line displacement monitoring system provided in this application;

[0025] Figure 4 This is another schematic diagram of the railway line displacement monitoring system provided in this application. Detailed Implementation

[0026] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0027] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0028] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0029] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0030] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0031] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0032] In related technologies, displacement monitoring of railway lines during construction mainly involves manual monitoring. The main equipment for manual monitoring is a level and a total station. The level is used for settlement measurement, and the total station is used for horizontal displacement measurement. Each measurement requires surveyors to enter the railway line with a target and place it on a pre-set measuring point. Another group of surveyors then uses the level and total station to observe and record the data.

[0033] However, manual monitoring has large aiming and reading errors, low efficiency in manual reading and data processing, and requires surveyors to enter the railway line for work, which poses a significant safety risk.

[0034] Furthermore, the applicant discovered that related technologies also include methods for automatically monitoring railway line displacement, such as... Figure 1As shown, the main equipment is a surveying robot (automated total station) and its data processing system. Before construction, this technical solution requires setting up measuring points (prisms) on the railway line and installing the surveying robot at a location with good visibility outside the railway. During construction, automated monitoring and data processing are carried out.

[0035] However, the main problem with automated monitoring in related technologies is that during the construction of new highways, the reinforcing components of the road severely obstruct the line of sight of the measuring points (prisms), making it difficult for the matched measuring robots to obtain observation readings from the measuring points.

[0036] In other words, while the technology for automated displacement monitoring of railway lines in normal operation is relatively mature, there is a problem that the line of sight of the measuring point (prism) is blocked when monitoring the displacement of railway lines during the reinforcement construction period.

[0037] However, the period of railway line reinforcement construction is precisely the period when railway line displacement is large and train operation safety hazards are great, and it is also the period when displacement monitoring is urgently needed.

[0038] Therefore, the key technical problem to be solved in this application is: to solve the problem of obstruction of the line of sight of the measuring point (prism) by the line reinforcement components during the construction of adding a highway under the existing railway, while minimizing the need for surveyors to enter the railway line for work, and the obtained observation results should meet the accuracy requirements.

[0039] To address the problems existing in related technologies, this application provides a displacement monitoring system 100 for railway lines. Please refer to... Figure 2 The system 100 includes: a target 11, a displacement sensor 12, a monitoring structure 13, and a measuring robot 14, wherein:

[0040] An edge reinforcement member 15 is installed on at least one side of the rail along the extension direction perpendicular to the rail in the railway line. For example, edge reinforcement members 15 can be optionally provided on both sides of the railway line along the extension direction perpendicular to the rail in the railway line to improve the stability of the railway line. The structure, material, and size of the two edge reinforcement members 15 can be the same or different; this application does not specifically limit this.

[0041] The target 11 is installed on the surface of the sleeper 16 of the railway track away from the ground, and the displacement sensor 12 is installed on the surface of the edge reinforcement 15 facing the target 11. The displacement sensor 12 is used to monitor the first gap between the matched target 11 and the displacement sensor 12. The extension direction of the sleeper 16 intersects the extension direction of the railway track. Installing the target 11 on the surface of the sleeper 16 away from the ground can improve the visibility of the target 11 and avoid affecting the railway track, that is, it will not affect the normal use of the railway line. Setting the displacement sensor 12 on the surface of the edge reinforcement 15 facing the target 11 can ensure that the displacement sensor 12's monitoring of the gap between the matched target 11 and the displacement sensor 12 is not obstructed, which is conducive to ensuring the accuracy and continuity of the displacement sensor 12's monitoring of the corresponding first gap. For example, the target 11 can be positioned at the end of the sleeper 16 close to the displacement sensor 12 to avoid obstruction of the monitoring path between the displacement sensor 12 and the target 11 by trains traveling on the railway line, thus ensuring the continuity of the displacement sensor 12's monitoring of the corresponding first gap. By monitoring the first gap between the target 11 and the displacement sensor 12, if the first gap remains unchanged, it indicates that the railway line has not experienced any displacement and is in a stable state. If the first gap changes, it indicates that the railway line may have experienced abnormal displacement, which could pose a risk to train operation.

[0042] This application does not impose specific limitations on the number of sets of targets 11 and displacement sensors 12 matched and installed on a railway line, or on the spacing between them. For example, a set of matched targets 11 and displacement sensors 12 can be installed at preset intervals along the extension direction of the railway track. In addition, among the multiple sets of targets 11 and displacement sensors 12 installed on the same railway line, it is possible to choose to install all displacement sensors 12 on the same edge reinforcement member 15, or to choose to distribute the displacement sensors 12 on two edge reinforcement members 15.

[0043] It should be added that a crossbeam 17 can be installed below the rail, and the sleeper 16 can be directly fixedly installed on the surface of the crossbeam 17 away from the ground. The edge reinforcement 15 can also be directly fixedly installed on the surface of the crossbeam 17 away from the ground.

[0044] The monitoring structure 13 is installed on the surface of the edge reinforcement 15 away from the ground, and the measuring robot 14 is installed on the side of the track away from the monitoring structure 13. The measuring robot 14 is used to monitor the second distance between the matched monitoring structure 13 and the measuring robot 14. That is, in addition to the matched target 11 and displacement sensor 12, multiple sets of matched monitoring structures 13 and measuring robots 14 can be set. Installing the monitoring structure 13 on the surface of the edge reinforcement 15 away from the ground can avoid the monitoring path of the matched measuring robot 14 being blocked, which is beneficial to ensuring the monitoring effect of the measuring robot 14 on the matched monitoring structure 13. The measuring robot 14 can be set on the ground away from the railway line, and the setting position of the measuring robot 14 is fixed. When the measuring robot 14 detects that the second distance between the matched monitoring structure 13 and the measuring robot 14 has not changed, it means that the railway line should not have been displaced and is in a stable state. If the second distance changes, it means that the railway line may have been abnormally displaced, and the railway line may have a risk of traffic accidents.

[0045] One measuring robot 14 may be matched with one monitoring structure 13, but it may also be selected to match one measuring robot 14 with two or more monitoring structures 13. This application does not make a specific limitation in this regard.

[0046] This application does not impose specific limitations on the number of monitoring structures 13 and measuring robots 14 set up on a railway line, or on their intervals. For example, a monitoring structure 13 can be set up at preset intervals along the extension direction of the railway track. Furthermore, among multiple sets of monitoring structures 13 and measuring robots 14 set up on the same railway line, it is possible to choose to set all the monitoring structures 13 on the same edge reinforcement 15, or to choose to distribute the monitoring structures 13 on two edge reinforcement 15s. The setting position of the corresponding measuring robot 14 can be adjusted based on the setting position of the monitoring structure 13, as long as the measurement continuity of the measuring robot 14 with respect to the matched monitoring structure 13 is guaranteed.

[0047] The displacement of the railway line is determined based on at least one of the first and second spacing. This improves the accuracy of monitoring abnormal displacements of the railway line, thereby enhancing the safety of railway line operation and, consequently, the safety of train operation.

[0048] Please refer to Figure 2 and Figure 3In one exemplary embodiment, the system 100 further includes: a data acquisition unit 18, a data processor 19, and a terminal 20; wherein: one end of the data acquisition unit 18 is connected to the displacement sensor 12, and the other end is connected to the data processor 19; the data processor 19 is also connected to the measuring robot 14 and the terminal 20 respectively.

[0049] Specifically, the displacement sensor 12 can transmit the first gap detected between the matched target 11 and the displacement sensor 12 to the connected data acquisition unit 18. The data acquisition unit 18 transmits the multiple first gaps detected by the multiple displacement sensors 12 to the data processor 19. At the same time, each measuring robot 14 also transmits the second gaps it has detected to the data processor 19. Upon receiving multiple first and second gaps, the data processor 19 can convert the relevant data into a data type that the terminal 20 can recognize, and then send it to the terminal 20 for analysis of whether abnormal displacement has occurred on the railway line.

[0050] For example, the terminal 20 can be used to analyze and process multiple first gaps monitored by each displacement sensor 12 and multiple second gaps monitored by each measuring robot 14 to identify whether the corresponding first gaps and second gaps have changed, thereby identifying whether abnormal displacement has occurred on the railway line and the location of the abnormal displacement. Alternatively, the data processor 19 can be used to analyze and process multiple first gaps monitored by each displacement sensor 12 and multiple second gaps monitored by each measuring robot 14, and then send the processing results to the terminal 20, so that the terminal 20 can display the monitoring results of whether abnormal displacement has occurred on the railway line to the user. The location of the abnormal displacement can be determined based on the deployment position of the corresponding displacement sensor 12 and / or measuring robot 14 on the railway line.

[0051] Please refer to Figure 2 In one exemplary embodiment, the pseudo-connection between the displacement sensor 12 and the matched target 11 is parallel to the ground.

[0052] Specifically, by setting the pseudo-connection line between the displacement sensor 12 and the matched target 11 to be parallel to the ground, it is equivalent to setting the displacement sensor 12 and the matched target 11 on the same plane, which helps to improve the monitoring effect of the displacement sensor 12 on the matched target 11.

[0053] Please refer to Figure 2In one exemplary embodiment, the initial distance between the displacement sensor 12 and the matched target 11 is less than or equal to 500 mm. This setting ensures that the initial distance between the displacement sensor 12 and the matched target 11 is not too large, which helps to ensure the accuracy of the displacement sensor 12 in monitoring the first distance between the matched target 11 and the displacement sensor 12.

[0054] Please refer to Figure 2 In one exemplary embodiment, the displacement sensor 12 includes a laser displacement sensor 12.

[0055] Specifically, the displacement sensor 12 can be a laser displacement sensor 12, which can accurately measure the position, displacement, and other changes of the object being measured (target 11) in a non-contact manner. However, this application does not limit the use of only laser displacement sensor 12 as the displacement sensor; grating displacement sensor 12, ultrasonic displacement sensor 12, etc., can also be selected.

[0056] Please refer to Figure 2 In an exemplary embodiment, the displacement of the railway line is W, the change in the first spacing is D1, the change in the second spacing is D2, and W = D1 + D2.

[0057] Specifically, the displacement of the same section of the railway line can be determined based on the change in the first spacing monitored by the displacement sensor 12 installed in the section and the change in the second spacing monitored by the measuring robot 14 matched with the monitoring structure 13 installed in the section.

[0058] Please refer to Figure 2 and Figure 3 In one exemplary embodiment, the monitoring structure 13 includes a prism. Specifically, a measuring robot 14, corresponding to the prism, is used to obtain the coordinate data of a fixed point at the center of the prism to obtain the aforementioned second spacing. The measured second spacing is then continuously sent to the terminal 20 via the data processor 19, allowing the terminal 20 to compare at least two second spacings monitored by the same measuring robot 14 for the same prism. If the values ​​change, it indicates that the railway line has shifted.

[0059] Please refer to Figure 2 In one exemplary embodiment, the edge reinforcement 15 includes a gap space between itself and the rail.

[0060] Specifically, by setting a certain distance between the edge reinforcement 15 and the rail, the safety of vehicles traveling on the rail will not be affected. In addition, the rail includes multiple crossbeams 17 spaced apart below it. The edge reinforcement 15 is located on the side of the crossbeams 17 away from the ground, which helps to connect the multiple crossbeams 17 through the edge reinforcement 15. This can disperse the gravity applied to each crossbeam 17 during train operation, which helps to improve the stability of the crossbeams 17 and avoid damage caused by excessive lateral gravity.

[0061] Please refer to Figure 2 In one exemplary embodiment, the initial distance between the monitoring structure 13 and the matched measuring robot 14 is less than or equal to 50m. This setting ensures that the initial distance between the monitoring structure 13 and the matched measuring robot 14 is not too large, which helps to ensure the accuracy of the measuring robot 14 in monitoring the second distance between the monitoring structure 13 and the measuring robot 14.

[0062] Please refer to Figure 2 In one exemplary embodiment, the size of the edge reinforcement 15 is greater than or equal to the size of the rail in a direction perpendicular to the ground.

[0063] Specifically, setting the height of the edge reinforcement 15 slightly higher than the rail can improve the clarity of the monitoring path between the monitoring structure 13 and the matching measurement robot 14 on the side of the edge reinforcement 15 away from the ground, and reduce the possibility of obstacles appearing on the monitoring path between the monitoring structure 13 and the matching measurement robot 14.

[0064] Please combine Figure 2 and Figure 3 Reference Figure 4 , Figure 4 This is another schematic diagram of the railway line displacement monitoring system provided in this application. Exemplarily, the displacement monitoring system provided in this application mainly consists of: a displacement sensor and target, a data acquisition unit, a prism, a measuring robot, a data processor, and a receiving terminal.

[0065] A target is mounted on the sleeper, and a displacement sensor is installed on the side of the track reinforcement component to automatically observe the relative displacement between the target and the reinforcement component, transmitting the data to a data acquisition unit. A prism is installed on the top of the reinforcement component where visibility is good. A measuring robot automatically observes the prism's displacement. A data processor combines the data from the displacement sensor and the robot, performs calculations to obtain the rail displacement, and determines whether the railway line displacement is excessive or if there are any safety hazards in train operation. The final result is then transmitted to a receiving terminal.

[0066] In areas near railway lines with good visibility and that will not affect the reinforcement work, on-site monitoring stations will be established. Measurement robots and data acquisition devices will be set up, the monitoring system will be debugged, and the initial displacement values ​​will be observed and recorded.

[0067] During monitoring, the measuring robot automatically observes the displacement data acquired by the prism, while the data acquisition unit receives displacement data from the displacement sensor. Both the prism displacement and the sensor displacement are simultaneously transmitted to the data processor, which calculates the rail displacement. The data processor analyzes the rail displacement to determine if the railway line displacement is excessive and if there are any safety hazards in train operation, then transmits the results to the receiving terminal.

[0068] The displacement monitoring system provided in this application automatically observes the relative displacement between the target and the track reinforcement components using a laser displacement sensor. A measuring robot automatically observes the displacement of a prism. A data processor combines the observation data from the displacement sensor and the measuring robot, and through conversion processing, obtains the rail displacement. This system enables automated monitoring of railway track displacement during track reinforcement construction, solves the problem of various components obstructing the line of sight to the measuring points at the construction site, improves monitoring efficiency, and avoids the need for surveyors to enter the track, thus improving the safety of surveyors. This application addresses the practical needs of construction sites and is of great significance for improving the monitoring technology level of existing operating railway lines.

[0069] A further embodiment is provided, taking a frame bridge project under a railway as an example, to describe the working principle of the displacement monitoring system provided in this application. The conversion principle is as follows:

[0070] The absolute displacements of the rail, target, displacement sensor, prism, and measuring robot are V1, V2, V3, V4, and V5, respectively. The formula for calculating the absolute displacement V1 of the rail using relative displacements is as follows:

[0071] V1=(V1-V2)+(V2-V3)+(V3-V4)+(V4-V5)+(V5-0)

[0072] The measuring robot is installed on a solid surface outside the deformation influence range and can be regarded as a fixed point, i.e., V5=0;

[0073] The prism is installed on the top surface of the line reinforcement component, and the displacement sensor is installed on the side of the line reinforcement component. The line reinforcement component is generally an "H" shaped steel or an I-beam. The space between the prism and the displacement sensor can be considered rigid, i.e., V3=V4.

[0074] The rails are installed on the sleepers by rail spikes (fasteners). Generally, the displacement of the sleepers represents the displacement of the rails. The targets are fixed to the sleepers by bolts or adhesives, i.e., V1=V2.

[0075] The simplified formula for calculating the absolute displacement V1 of the rail is: V1 = (V2 - V3) + (V4 - V5), where a negative value indicates that the rail is displaced to the left and a positive value indicates that it is displaced to the right.

[0076] Where (V2-V3) are the readings of the displacement sensor, and (V4-V5) are the readings of the measuring robot. That is, the algebraic sum of the two is the displacement of the rail.

[0077] The displacement sensor typically uses a laser displacement sensor, with the distance to the target generally not exceeding 500mm and an accuracy within 0.1mm. The distance between the measuring robot and the prism is generally not exceeding 50m, with an accuracy within 0.3mm. The system's cumulative error is within 0.4mm, meeting the accuracy requirements for railway line displacement monitoring.

[0078] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0079] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A displacement monitoring system for railway lines, characterized in that, The system includes: a target, a displacement sensor, a monitoring structure, and a measuring robot, wherein: An edge reinforcement member in the railway line is installed on at least one side of the rail along a direction perpendicular to the extension of the rail in the railway line; The target is installed on the surface of the sleeper of the rail away from the ground, and the displacement sensor is installed on the surface of the edge reinforcement facing the target. The displacement sensor is used to monitor the first gap between the matched target and the displacement sensor; the extension direction of the sleeper intersects the extension direction of the rail. The monitoring structure is installed on the side of the edge reinforcement away from the ground, and the measuring robot is set on the side of the monitoring structure away from the rail. The measuring robot is used to monitor the second distance between the matched monitoring structure and the measuring robot. The displacement of the railway line is determined based on at least one of the first spacing and the second spacing.

2. The system according to claim 1, characterized in that, The system also includes: a data collector, a data processor, and a terminal; wherein: One end of the data acquisition unit is connected to the displacement sensor, and the other end is connected to the data processor; The data processor is also connected to the measuring robot and the terminal.

3. The system according to claim 1, characterized in that, The pseudo-connection line between the displacement sensor and the matched target is parallel to the ground.

4. The system according to claim 3, characterized in that, The initial distance between the displacement sensor and the matched target is less than or equal to 500 mm.

5. The system according to claim 1, characterized in that, The displacement sensor includes a laser displacement sensor.

6. The system according to claim 1, characterized in that, The displacement of the railway line is W, the change in the first spacing is D1, the change in the second spacing is D2, and W = D1 + D2.

7. The system according to claim 1, characterized in that, The monitoring structure includes a prism.

8. The system according to claim 1, characterized in that, The edge reinforcement and the rail include a gap space.

9. The system according to claim 1, characterized in that, The initial distance between the monitoring structure and the matching measurement robot is less than or equal to 50m.

10. The system according to any one of claims 1-9, characterized in that, Along a direction perpendicular to the ground, the size of the edge reinforcement is greater than or equal to the size of the rail.

Images